CHAPTER II: SIGNAL FLOW GRAPH

For complex control systems, the block diagram c. Mixed Node – A node that has both incoming and
reduction technique is cumbersome. An alternative method outgoing branches
for determining the relationship between system variables
has been developed by Mason and is based on a signal flow 2. Branch ─ use to represents transfer function (or blocks).
graph. Signal Flow Graph is a pictorial representation of the It is a unidirectional path that relates the dependency of
simultaneous equations describing a control system. It a control input to an output and vice-versa. (G)
graphically displays the transmission of signals through the
system, as does the block diagram. A signal flow graph is a
3. Path ─ it is a continuous, unidirectional succession of
diagram consisting of nodes that are connected by branches.
A node is assigned to each variable of interest in the system, branches along which no node is passed more than
and branches are used to relate the different variables. The once.
main advantage for using SFG is that a straight forward a. Forward Path ─ path from input node to output
procedure is available for finding the transfer function in node.
which it is not necessary to move pickoff point around or to b. Feedback Path ─ path from output node to input
redraw the system several times as with block diagram node.
manipulations. It is easier to draw and therefore easier to
c. Self-Loop ─ Feedback loop consisting of a single
manipulate than the block diagram.
branch
Mason’s rule is useful for solving relatively d. Loop – a closed path that originates and terminates
complicated block diagrams by hand. It yields the solution to at the same node. (Note: along the path, no node
the graph in the sense that it provides an explicit input-output should be touched twice)
relationship for the system represented by the diagram. The
advantage as compared to path-by-path reduction is that it is 4. Branch Gain/Transmission Function ─ it refers to the
systematic and algorithmic. value of the transfer function (or block) in traversing from
one node to the next.
SIGNAL FLOW GRAPH ELEMENTS a. Path Gain ─ product of branch gains encountered
in traversing a path
R(s) G(s) C(s)
b. Loop Gain ─ product of the branch gains in
traversing a loop

1. Node ─ use to represent control signals. It is a junction SIGNAL FLOW GRAPH ALGEBRA
denoting a variable or a signal. (R, C)
1. ADDITIVE RULE ─ when the value of the variable
a. Input Node or Source Node ─ a node with only designated by a node is equal to the sum of all signals
outgoing branches entering the node.
b. Output Node or Sink Node ─ node with only
R1
incoming branches. G1

Note: R2 G2
Very often, a variable in a system is a function of the
output variable. The canonical feedback system is an G3 C
obvious example. In this case, if the signal flow graph were R3
to be drawn directly from the equations, the “output node” : Gn
would require an outgoing branch, contrary to the definition. .

This problem may be remedied by adding a branch with a Rn

transmission function of unity entering a “dummy” node.
2. TRANSMISSION RULE ─ the value of the variable c. Connect the nodes by the appropriate branches.
designated by a node is transmitted on every branch d. If the desired output node has outgoing branches, add
leaving that node. a dummy node and a unity branch gain.
e. Rearrange the nodes and/or loops in the graph to
C1 achieve maximum pictorial clarity.

G1
C2 2. Block Diagram to SFG
G2 1 G 1
R G C
R C3 C
G3 R
±
H ±H
Gn
Cn
MASON’S GAIN FORMULA
Formula that gives the transfer functions from the source
node to the sink node only.
3. MULTIPLICATION RULE ─ A cascade connection of
n-1 branches with transmission functions can be 1 P
replaced by a single branch with transfer function equal T M K K
 K 1
to the product of the old ones.
1
G1 G2 … Gn  ( M 1 1  M 2  2    M P  P

R X1 Xn C
where:

G1G2…G T = the general input-output gain (C/R) or transfer function

n
from the input node to the output node.
R C MK = Path gain of the Kth forward path
P = no. of paths from input to output
Δ = (signal flow graph determinant or characteristic
CONSTRUCTION OF SIGNAL FLOW GRAPH
function)
= 1 ─ (sum of all individual loop gains) + (sum of the
1. Describing equations to SFG
product of the loop gains of all possible combinations of
nontouching loops taken 2 at a time) ─ (sum of the
a. Write the system of equations in the form
product of the loop gains of all possible combinations of
nontouching loops taken 3 at a time) + …
X 1  G11 X 1  G12 X 2    G1n X n ΔK = value of Δ for that part of the flow graph not touching
X 2  G21 X 1  G22 X 2    G2 n X n the Kth forward path. (also called as the cofactor of Kth
path)

X m  G m1 X 1  G m 2 X 2    G mn X n Note:
where: 1. Two loops, paths, or a loop and a path are said to be
X = nodes nontouching if they have no nodes in common.
G = Transfer function 2. To determine ΔK, redraw the flow graph with all the
Note: nodes of the Kth forward path removed.
X1 is not required if X1 is an input node

b. Arrange the m or n (whichever is larger) nodes from

left to right. The nodes may be rearranged if the
required loops later appear too cumbersome.
 Example:

Construct the equivalent signal flow graph of the

given block diagrams.

H3
─
+ + +
G1 G2 G3
R C
─ ─
H2

H1

R1 R3 R5

IO1 IO3

Vi Vo
R2 R4 R6
IO4
IO2

For each of the following signal flow graphs, determine:

a. Individual loop gains
b. Forward path gains
c. The value of Δ
d. The value of Δk
e. The transfer function, T

G6 H6

1 G1 G2 G3 G4 G5 1

R C

H1 H2 H3 H4 H5

G7 G5

H2
G1 G2 G3
R
X1 X2 C

─H2